image/svg+xml Cognitive architectures A cognitive architecture is a formal theory of how the mind works, which can be implemented computationally. Understanding information processing systems at three levels of analysis (Marr, 1982) The level of the cognitive architecture is the level at which general cognitive mechanisms can be described irrespective of their implementation (Taatgen & Anderson, 2010), i.e. Marr’s algorithmic level. Alen Newell, the pioneer Newell’s Functional Criteria for a Human Cognitive Architecture1. Behave as an (almost) arbitrary function of the environment2. Operate in real time3. Exhibit rational, i.e., effective adaptive behavior4. Use vast amounts of knowledge about the environment5. Behave robustly in the face of error, the unexpected, and the unknown6. Integrate diverse knowledge7. Use (natural) language8. Exhibit self-awareness and a sense of self9. Learn from its environment10. Acquire capabilities through development11. Arise through evolution What are the parts of the cognition engine? ? - perception- action- control- representation- attention- decision making- learning- memory- planning- ... Early days: General Problem Solver Separating the knowledge From the strategy of how to solve problems Newell, Shaw, & Simon, 1959 ACT-R Spaun Eliasmith et al., A Large-Scale Model of the Functioning Brain, Science, 2012 Semantic Pointer Architecture Unified Network What is missing in those approaches? is more than connecting a brain and a body Bottom-up, behavior-based approches A variety of simple behaviors are built into the robot's repertoire. These behaviors are layered and organized into a hierarchy, with more abstract goals farther up the heirarchy. Can you drive only with a motor engine? Brain Body Environment What is a ball? Feeling softness How to catch a ball? Combining embodied behaviors Subsumption architecture (Brooks, 1986) What is missing in those approaches? Top-down, Bottom-up ... and Mixed approaches Top-down representation-basedvs.Bottom-up behavior-based Top-down, representation-based approches Asimo vs. Big-DogBut big-dog doesn't play chess A complex internal representation of a task is decomposed into sub-tasks to be executed, recursively Distributed Adaptive Control (DAC) Merging both approaches
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  1. full
  2. cogarch_def
  3. marr_levels
  4. cogarch_def
  5. newell1
  6. newell2
  7. newell_motor
  8. newell_test
  9. cog_engine
  10. cog_engine_list
  11. cogeng icub mods
  12. cogeng gaze
  13. cogeng pick vid
  14. cogeng full arch
  15. full2
  16. classical
  17. gps
  18. actrspaun
  19. actr
  20. spaun
  21. spaun_vid
  22. classical_missing
  23. embodiment_missing
  24. zmp
  25. embodiment is more
  26. full_after_classical
  27. alternative
  28. can you drive
  29. car
  30. car_env
  31. brain body env
  32. spiral
  33. embodied cog
  34. embodied vids
  35. passive walker
  36. soft grasp
  37. soft crawl
  38. embodiment_def
  39. embodiment recap
  40. ball
  41. ball embodied
  42. softness
  43. smc
  44. catch ball
  45. oac
  46. brooks best
  47. subsumption
  48. subsumption vid
  49. alternative missing